26 lines
677 B
Python
26 lines
677 B
Python
from math import pi
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import urx
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import logging
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if __name__ == "__main__":
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rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
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rob.set_tcp((0,0,0,0,0,0))
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rob.set_payload(0.5, (0,0,0))
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try:
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l = 0.05
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v = 0.05
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a = 0.3
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pose = rob.getl()
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print("robot tcp is at: ", pose)
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pose[2] += l
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rob.movel(pose, acc=a, vel=v)
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print("relative move in base coordinate ")
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rob.translate((0, 0, -z), acc=a, vel=v)
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print("relative move in tool coordinate")
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rob.translate_tool((0, 0, -z), acc=a, vel=v)
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rob.translate_tool((0, 0, z), acc=a, vel=v)
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finally:
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rob.cleanup()
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